action_node.h

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/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018-2020 Davide Faconti, Eurecat -  All Rights Reserved
*
*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
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*/
 
#ifndef BEHAVIORTREECORE_ACTIONNODE_H
#define BEHAVIORTREECORE_ACTIONNODE_H
 
#include <atomic>
#include <thread>
#include <future>
#include <mutex>
 
#include "leaf_node.h"
 
namespace BT
{
// IMPORTANT: Actions which returned SUCCESS or FAILURE will not be ticked
// again unless resetStatus() is called first.
// Keep this in mind when writing your custom Control and Decorator nodes.
 
class ActionNodeBase : public LeafNode
{
public:
  ActionNodeBase(const std::string& name, const NodeConfig& config);
  ~ActionNodeBase() override = default;
 
  virtual NodeType type() const override final
  {
    return NodeType::ACTION;
  }
};
 
class SyncActionNode : public ActionNodeBase
{
public:
  SyncActionNode(const std::string& name, const NodeConfig& config);
  ~SyncActionNode() override = default;
 
  virtual NodeStatus executeTick() override;
 
  virtual void halt() override final
  {
    resetStatus();
  }
};
 
class SimpleActionNode : public SyncActionNode
{
public:
  using TickFunctor = std::function<NodeStatus(TreeNode&)>;
 
  // You must provide the function to call when tick() is invoked
  SimpleActionNode(const std::string& name, TickFunctor tick_functor,
                   const NodeConfig& config);
 
  ~SimpleActionNode() override = default;
 
protected:
  virtual NodeStatus tick() override final;
 
  TickFunctor tick_functor_;
};
 
class ThreadedAction : public ActionNodeBase
{
public:
  ThreadedAction(const std::string& name, const NodeConfig& config)
    : ActionNodeBase(name, config)
  {}
 
  bool isHaltRequested() const
  {
    return halt_requested_.load();
  }
 
  // This method spawn a new thread. Do NOT remove the "final" keyword.
  virtual NodeStatus executeTick() override final;
 
  virtual void halt() override;
 
private:
  std::exception_ptr exptr_;
  std::atomic_bool halt_requested_ = false;
  std::future<void> thread_handle_;
  std::mutex mutex_;
};
 
#ifdef USE_BTCPP3_OLD_NAMES
using AsyncActionNode = ThreadedAction;
#endif
 
class StatefulActionNode : public ActionNodeBase
{
public:
  StatefulActionNode(const std::string& name, const NodeConfig& config)
    : ActionNodeBase(name, config)
  {}
 
  virtual NodeStatus onStart() = 0;
 
  virtual NodeStatus onRunning() = 0;
 
  virtual void onHalted() = 0;
 
  bool isHaltRequested() const;
 
protected:
  // do not override this method
  NodeStatus tick() override final;
  // do not override this method
  void halt() override final;
 
private:
  std::atomic_bool halt_requested_ = false;
};
 
class CoroActionNode : public ActionNodeBase
{
public:
  CoroActionNode(const std::string& name, const NodeConfig& config);
  virtual ~CoroActionNode() override;
 
  void setStatusRunningAndYield();
 
  // This method triggers the TickEngine. Do NOT remove the "final" keyword.
  virtual NodeStatus executeTick() override final;
 
  // Used internally, but it needs to be public
  void tickImpl();
 
  void halt() override;
 
protected:
  struct Pimpl;  // The Pimpl idiom
  std::unique_ptr<Pimpl> _p;
 
  void destroyCoroutine();
};
 
}  // namespace BT
 
#endif